From 99aa5f49fcc3ead861ed21cba0c4f7d58702ffd6 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 31 May 2016 15:38:44 -0400
Subject: [PATCH] FW ALTCTL requires altitude

---
 src/modules/commander/state_machine_helper.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e979d07e04..1ebf522340 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -361,10 +361,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 
 	case commander_state_s::MAIN_STATE_ALTCTL:
 		/* need at minimum altitude estimate */
-		/* TODO: add this for fixedwing as well */
-		if (!status->is_rotary_wing ||
-		    (status_flags->condition_local_altitude_valid ||
-		     status_flags->condition_global_position_valid)) {
+		if (status_flags->condition_local_altitude_valid ||
+		    status_flags->condition_global_position_valid) {
 			ret = TRANSITION_CHANGED;
 		}
 		break;